Power axle wrist for robotic surgical tool

• US 10,973,600 B2
• Filed: 09/29/2017
• Issued: 04/13/2021
• Est. Priority Date: 09/29/2017
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Bruehwiler, Michel, Constantineau, Cole, Ryan, Andrew, Saeedi, Khodabakhsh
• Primary Examiner(s): McEvoy, Thomas
• Application Number:
  US15/720,699
• Publication Number:
  US 20190099231A1
• Time in Patent Office: 1,292 Days
• CPC Class Codes: A61B 1/012 characterised by internal passages or accessories therefor
• CPC Class Codes: A61B 10/04 Endoscopic instruments
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/2926 Details of heads or jaws
• CPC Class Codes: A61B 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/71 Manipulators operated by drive cable mechanisms
• CPC Class Codes: B25J 17/02 Wrist joints

Abstract

A surgical tool includes a drive housing and an elongate shaft extending from the drive housing. A wrist couples an end effector to the elongate shaft and includes a distal clevis having a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis. A plurality of drive cables extend between the drive housing and the end effector, and movement of the drive cables causes the end effector to articulate about a first pivot axis extending through the first axle. A power axle cable extending from the drive housing and mounted to the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis at the second axle.

Claims

1. A surgical tool, comprising:

a drive housing;

an elongate shaft that extends from the drive housing;

a wrist that couples an end effector to the elongate shaft and includes a distal clevis that defines an inner pulley and has a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to a distal end of the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis;

a plurality of drive cables extending between the drive housing and the end effector, wherein movement of one or more of the plurality of drive cables causes the end effector to articulate about a first pivot axis extending through the first axle; and

a power axle cable extending from the drive housing and mounted to the distal clevis at the inner pulley,

wherein a power axle connector is secured to the power axle cable and received within a pocket defined in the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis, and

wherein a portion of the power axle connector protrudes from the pocket and a recess is defined on the end effector to accommodate the portion of the power axle connector such that the power axle connector does not obstruct movement of the end effector about the first pivot axis.

2. The surgical tool of claim 1, wherein the inner groove that concentrically circumscribes the second axle and the power axle cable is received within the inner groove.

3. The surgical tool of claim 1, wherein the wrist further includes a first plurality of pulleys mounted to the proximal clevis at the second axle, and a second plurality of pulleys mounted to the proximal clevis at a third axle located proximal to the second axle, and

wherein the first and second plurality of pulleys cooperatively redirect the plurality of drive cables through an “

S”

shaped pathway while the power axle cable is routed directly to the distal clevis.

4. The surgical tool of claim 3, wherein an outer diameter of each pulley of the first and second pluralities of pulleys is the same, but an inner diameter of each pulley of the second plurality of pulleys is smaller than an inner diameter of each pulley of the first plurality of pulleys.

5. The surgical tool of claim 1, wherein the end effector includes opposing first and second jaws, and wherein movement of the plurality of drive cables causes one or both of the first and second jaws to pivot about the first pivot axis in yaw articulation and movement of the power axle cable causes movement of the end effector about the second pivot axis in pitch articulation.

6. The surgical tool of claim 5, wherein the plurality of drive cables include a first pair of drive cables coupled at a first connector mounted to the first jaw in a first pocket and a second pair of drive cables coupled at a second connector mounted to the second jaw in a second pocket, and wherein a nose extends from each jaw to maintain the first and second connectors within the first and second pockets, respectively.

7. The surgical tool of claim 5, wherein the distal clevis provides at least one hard stop positioned to limit the yaw articulation of at least one of the first and second jaws to a predetermined maximum angle.

8. The surgical tool of claim 1, wherein a distal end of the elongate shaft is received within an interior of the proximal clevis, and the distal end of the elongate shaft defines one or more keyways mateable with one or more corresponding keys provided within the interior of the proximal clevis.

9. The surgical tool of claim 1, wherein the distal clevis provides a plurality of channels and each drive cable extends proximally from the end effector and passes through a corresponding one of the plurality of channels without touching the corresponding one of the plurality of channels.

10. The surgical tool of claim 1, wherein the end effector is selected from the group consisting of forceps, a tissue grasper, a needle driver, scissors, an electro cautery tool, a stapler, a clip applier, a suction tool, an irrigation tool, an imaging device, a babcock, a retractor, a hook, a spatula, and any combination thereof.

11. A power axle wrist for a surgical tool that couples an end effector to an elongate shaft of the surgical tool, the power axle wrist comprising:

a distal clevis having a first axle where the end effector is rotatably mounted to the distal clevis, the end effector being articulable about a first pivot axis extending through the first axle;

a proximal clevis configured to be coupled to a distal end of the elongate shaft and having a second axle where the distal clevis is rotatably mounted to the proximal clevis;

a power axle cable mounted to the distal clevis at an inner pulley, the proximal clevis defining a plurality of channels through which a plurality of drive cables and the power axle cable extend; and

a power axle connector secured to the power axle cable and received within a pocket defined in the distal clevis such that movement of the power axle cable correspondingly pivots the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis,

wherein a portion of the power axle connector protrudes from the pocket and a recess is defined on the end effector to accommodate the portion of the power axle connector such that the power axle connector does not obstruct movement of the end effector about the first pivot axis.

12. The power axle wrist of claim 11, wherein the inner pulley defines an inner groove that concentrically circumscribes the second axle and the power axle cable is received within the inner groove.

13. The power axle wrist of claim 12, wherein the power axle connector comprises an attachment mechanism selected from the group consisting of a crimp, a welded attachment, a brazed attachment, an adhesive bond, a mechanical fastener, and any combination thereof.

14. The power axle wrist of claim 11, further comprising:

a first plurality of pulleys mounted to the second axle;

a second plurality of pulleys mounted to a third axle coupled to the proximal clevis and located proximal to the second axle,

wherein an outer diameter of each pulley of the first and second pluralities of pulleys is the same, but an inner diameter of each pulley of the second plurality of pulleys is smaller than an inner diameter of each pulley of the first plurality of pulleys.

15. The power axle wrist of claim 11, wherein the distal clevis provides a first extension that defines a first hole having a first inner diameter, and a second extension laterally offset from the first extension and defining a second hole having a second inner diameter greater than the first inner diameter, and

wherein the first axle is extendable through the first and second holes and provides a first end with a first outer diameter similar to the first inner diameter, and a second end with a second outer diameter similar to the second inner diameter.

16. The power axle wrist of claim 11, wherein the power axle further comprising a seal provided within an interior of the proximal clevis adjacent the plurality of channels, wherein the plurality of drive cables and the power axle cable extend through the seal.

17. A method of operating a surgical tool, comprising:

positioning the surgical tool adjacent a patient for operation, the surgical tool including;

a drive housing;

an elongate shaft extending from the drive housing;

a wrist that couples an end effector to the elongate shaft and includes a distal clevis that defines an inner pulley and has a first axle that rotatably mounts the end effector to the distal clevis, and a proximal clevis coupled to a distal end of the elongate shaft and having a second axle that rotatably mounts the distal clevis to the proximal clevis;

a plurality of drive cables extending between the drive housing and the end effector; and

a power axle cable extending from the drive housing and mounted to the distal clevis at the inner pulley, wherein a power axle connector is secured to the power axle cable and received within a pocket defined in the distal clevis;

moving one or more of the plurality of drive cables to articulate the end effector about a first pivot axis extending through the first axle; and

moving the power axle cable and thereby pivoting the end effector about a second pivot axis extending through the second axle and perpendicular to the first pivot axis,

wherein a portion of the power axle connector protrudes from the pocket and a recess is defined on the end effector to accommodate the portion of the power axle connector such that the power axle connector does not obstruct movement of the end effector about the first pivot axis.

18. The method of claim 17, wherein the end effector includes opposing first and second jaws, and

wherein moving the one or more of the plurality of drive cables comprises causing one or both of the first and second jaws to pivot about the first pivot axis in yaw articulation, and

wherein moving the power axle cable comprises causing movement of the end effector about the second pivot axis in pitch articulation.

19. The method of claim 17, further comprising helping to maintain insufflation with a seal provided within an interior of the proximal clevis.